Merge branch 'main' of gitlab.enterpriselab.ch:adis_team_gueti_roaster/adis_hs2022_team_4 into main

ADIS_ESP32_Eclipse/main/challenge_app.c

@@ -58,7 +58,7 @@ static void appTask(void *pv){
 
 			// endless loop
 			for(;;){
-				MyMqtt_Publish("scada/status", "Testmessage from ESP");
+				//MyMqtt_Publish("scada/status", "Testmessage from ESP");
 
 				vTaskDelay(pdMS_TO_TICKS(10000));
 			}
@@ -109,6 +109,8 @@ static uint8_t PrintStatus(const McuShell_StdIOType *io) {
 static uint8_t PrintHelp(const McuShell_StdIOType *io) {
   McuShell_SendHelpStr((unsigned char*)"challenge", (unsigned char*)"Group of ESP32 Challenge commands\r\n", io->stdOut);
   McuShell_SendHelpStr((unsigned char*)"  help|status", (unsigned char*)"Shows Challenge help or status\r\n", io->stdOut);
+  McuShell_SendHelpStr((unsigned char*)"  setMode s(tationary)", (unsigned char*)"Sets the mode of this robot to stationary\r\n", io->stdOut);
+  McuShell_SendHelpStr((unsigned char*)"  setMode m(mobile)", (unsigned char*)"Sets the mode of this robot to mobile\r\n", io->stdOut);
   return ERR_OK;
 }
 

ADIS_ESP32_Eclipse/main/challenge_com.c

@@ -26,14 +26,19 @@ const char MQTT_TOPIC_SF_CONFIG_SETUP[] = "/splitFlap/config/setup/";
 
 void Challenge_Com_ParseMqtt(void *handler_args, esp_event_base_t base, int32_t event_id, void *event_data){
 	/* INFO
-	 * TOPIC: 			event->topic
+	 * TOPIC: 			event->topic      ==> do not directly use, string is not limited
 	 * TOPIC LENGTH: 	event->topic_len
-	 * DATA: 			event->data
+	 * DATA: 			event->data       ==> do not directly use, string is not limited
 	 * DATA LENGTH: 	event->data_len
 	 * CLIENT: 			event->client
 	 */
 
     esp_mqtt_event_handle_t event = event_data;
+    // cut strings to length
+    char topic[event->topic_len+1]; char data[event->data_len+1];
+    McuUtility_strcpy((unsigned char*)topic, sizeof(topic), (unsigned char*)event->topic);
+    McuUtility_strcpy((unsigned char*)data, sizeof(data), (unsigned char*)event->data);
+
     bool handled = false;
 
     // check if event id is MQTT_EVENT_DATA => break if not
@@ -46,7 +51,7 @@ void Challenge_Com_ParseMqtt(void *handler_args, esp_event_base_t base, int32_t
     /* stationary robot allowed commands */
     if(Challenge_App_GetRobotMode() == true) {
     	// CMD: CONFIG SETUP
-        if(McuUtility_strcmp((char*)event->topic, MQTT_TOPIC_SF_CONFIG_SETUP)==0){
+        if(McuUtility_strcmp(topic, MQTT_TOPIC_SF_CONFIG_SETUP)==0){
         	handled = true;
         	// parse json
         	int setupId = 0;
@@ -56,35 +61,39 @@ void Challenge_Com_ParseMqtt(void *handler_args, esp_event_base_t base, int32_t
         	    {"hardwareId", t_integer, .addr.integer = &hwId,},
         	    {NULL},
         	};
-        	if(json_read_object(event->data, json_attrs, NULL) != 0){
+        	int err = json_read_object(data, json_attrs, NULL);
-        		ESP_LOGE(TAG, "Parsing JSON data of CONFIG SETUP message failed. Event data was = %s", event->data);
+        	if(err != 0){
+        		ESP_LOGE(TAG, "Parsing JSON data of CONFIG SETUP message failed. Event data was = %s", data);
+        		ESP_LOGE(TAG, "Parse error was: %s", json_error_string(err));
         	} else{  // successfully parsed
         		// check values
-        		if(setupId >= 0 && setupId <= 10 && hwId >= 0 && hwId <= 10){
+        		if(setupId >= 0 && setupId <= 10 && hwId >= 0 && hwId <= 50){
     				SplitFlap_Wrapper_SetHardwareIdentifier(setupId, hwId);
         		} else{
-        			ESP_LOGE(TAG, "SetupID or HardwareID out of range. Event data was = %s", event->data);
+        			ESP_LOGE(TAG, "SetupID or HardwareID out of range. Event data was = %s", data);
         		}
         	}
         }
         // CMD: INIT ALL
-        else if(McuUtility_strcmp((char*)event->topic, MQTT_TOPIC_SF_INITALL)==0){
+        else if(McuUtility_strcmp(topic, MQTT_TOPIC_SF_INITALL)==0){
         	handled = true;
         	SplitFlap_Wrapper_MoveAllToZeroPosition();
         }
         // CMD: DISPLAY
-        else if(McuUtility_strcmp((char*)event->topic, MQTT_TOPIC_SF_DISPLAY)==0){
+        else if(McuUtility_strcmp(topic, MQTT_TOPIC_SF_DISPLAY)==0){
         	handled = true;
         	// parse json
-        	unsigned char message[] = "TST";
+        	char message[10] = "TEST";
         	struct json_attr_t json_attrs[] = {
-				{"message", t_string, .addr.string = (char*)message},
+				{"message", t_string, .addr.string = message, .len = sizeof(message)},
 				{NULL},
 			};
-        	if(json_read_object(event->data, json_attrs, NULL) != 0){
+        	int err = json_read_object(data, json_attrs, NULL);
-				ESP_LOGE(TAG, "Parsing JSON data of DISPLAY message failed. Event data was = %s", event->data);
+        	if(err != 0){
+				ESP_LOGE(TAG, "Parsing JSON data of DISPLAY message failed. Event data was = %s", data);
+				ESP_LOGE(TAG, "Parse error was: %s", json_error_string(err));
 			} else{  // successfully parsed
-	        	SplitFlap_Wrapper_Display(message);
+	        	SplitFlap_Wrapper_Display((unsigned char*)message);
 			}
         }
     }
@@ -98,7 +107,7 @@ void Challenge_Com_ParseMqtt(void *handler_args, esp_event_base_t base, int32_t
 
 
     if(handled == false){
-        ESP_LOGE(TAG, "Received data could not be handled. Topic was %s", event->topic);
+        ESP_LOGE(TAG, "Received data could not be handled. Topic was %s", topic);
     }
     return;
 }

ADIS_ESP32_Eclipse/main/splitflap_wrapper.c

@@ -10,8 +10,9 @@
 #include "splitflap_wrapper.h"
 #include "McuUtility.h"
 #include "McuShell.h"
+#include "Shell.h"
 
-#define RS_CMD_PREFIX "rs sendcmd SplitFlap "
+#define RS_CMD_PREFIX "rs sendcmd 0x01 SplitFlap "
 #define BUF_SIZE 50
 
 
@@ -20,8 +21,10 @@
  * If all splitflaps report to be initialized before the timeout, the return value is true */
 bool SplitFlap_Wrapper_MoveAllToZeroPosition(void){
 	unsigned char cmd[BUF_SIZE] = RS_CMD_PREFIX;
+	unsigned char response[128];
 	McuUtility_strcat(cmd, sizeof(cmd), (unsigned char*)"initAll");
-	McuShell_SendStr(cmd, McuShell_GetStdio()->stdOut);
+	SHELL_SendToESPAndGetResponse(cmd, response, sizeof(response));
+	McuShell_SendStr(response, McuShell_GetStdio()->stdOut);
 	return true;
 }
 
@@ -30,9 +33,11 @@ bool SplitFlap_Wrapper_MoveAllToZeroPosition(void){
  * returns true when all movements finished */
 bool SplitFlap_Wrapper_Display(unsigned char *sentence){
 	unsigned char cmd[BUF_SIZE] = RS_CMD_PREFIX;
+	unsigned char response[128];
 	McuUtility_strcat(cmd, sizeof(cmd), (unsigned char*)"Display ");
 	McuUtility_strcat(cmd, sizeof(cmd), sentence);
-	McuShell_SendStr(cmd, McuShell_GetStdio()->stdOut);
+	SHELL_SendToESPAndGetResponse(cmd, response, sizeof(response));
+	McuShell_SendStr(response, McuShell_GetStdio()->stdOut);
 	return true;
 }
 
@@ -40,6 +45,7 @@ bool SplitFlap_Wrapper_Display(unsigned char *sentence){
  * returns true when successful, false when not (e.g. split flap with given id not available) */
 bool SplitFlap_Wrapper_SetHardwareIdentifier(uint8_t id, uint8_t hwId){
 	unsigned char cmd[BUF_SIZE] = RS_CMD_PREFIX;
+	unsigned char response[128];
 	unsigned char setupId_str[4] = {0}; unsigned char hardwareId_str[4] = {0};
 	McuUtility_Num8uToStr(setupId_str, sizeof(setupId_str), id);
 	McuUtility_Num8uToStr(hardwareId_str, sizeof(hardwareId_str), hwId);
@@ -47,6 +53,7 @@ bool SplitFlap_Wrapper_SetHardwareIdentifier(uint8_t id, uint8_t hwId){
 	McuUtility_strcat(cmd, sizeof(cmd), setupId_str);
 	McuUtility_strcat(cmd, sizeof(cmd), (unsigned char*)" ");
 	McuUtility_strcat(cmd, sizeof(cmd), hardwareId_str);
-	McuShell_SendStr(cmd, McuShell_GetStdio()->stdOut);
+	SHELL_SendToESPAndGetResponse(cmd, response, sizeof(response));
+	McuShell_SendStr(response, McuShell_GetStdio()->stdOut);
 	return true;
 }

ADIS_tinyK22_SplitFlap/source/shell.c

@@ -155,6 +155,10 @@ uint8_t SHELL_Int32ArrayToStringForSF(int32_t* intArray, int8_t size, char *str)
 			return ERR_RANGE;
 		}
 		*str = (char)intArray[i];
+		// array ended early => return ok
+		if(*str == '\0'){
+			return ERR_OK;
+		}
 		if(!((*str <= '9' && *str >= '0') || (*str >= 'A' && *str <= 'Z') ||
 				*str == '!' || *str == '?' || *str == ':' || *str == ' ')){
 			return ERR_RANGE;